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<div class="title">rt_sbus.c</div>  </div>
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<a href="../../d6/d9c/rt__sbus_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//#include &lt;stdio.h&gt;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">//#include &lt;stdint.h&gt;</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//#include &lt;stdlib.h&gt;</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//#include &lt;string.h&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//#include &lt;pthread.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//#include &lt;errno.h&gt;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//#include &lt;fcntl.h&gt;</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//#include &lt;time.h&gt;</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//#include &lt;unistd.h&gt;</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//#define termios asmtermios</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//#include &lt;asm/termios.h&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">//#undef termios</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">//#include &lt;termios.h&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">//#include &lt;rt/rt_sbus.h&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">//#include &lt;rt/rt_serial.h&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">//#include &lt;rt/rt_interface_lcm.h&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">//#include &lt;cTypes.h&gt;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// pthread_mutex_t sbus_data_m;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// uint16_t channels[18];</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// uint16_t channel_data[18];</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"></span><span class="comment">//#define K_SBUS_PORT_SIM &quot;/dev/ttyUSB0&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"></span><span class="comment">//#define K_SBUS_PORT_MC &quot;/dev/ttyS4&quot;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment">// void unpack_sbus_data(uint8_t sbus_data[], uint16_t *channels) {</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">//  if ((sbus_data[0] == 0xF) &amp;&amp; (sbus_data[24] == 0x0)) {</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">//    channels[0] = ((sbus_data[1]) | ((sbus_data[2] &amp; 0x7) &lt;&lt; 8));</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">//    channels[1] = (sbus_data[2] &gt;&gt; 3) | ((sbus_data[3] &amp; 0x3F) &lt;&lt; 5);</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">//    channels[2] = ((sbus_data[3] &amp; 0xC0) &gt;&gt; 6) | (sbus_data[4] &lt;&lt; 2) |</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment">//    ((sbus_data[5] &amp; 0x1) &lt;&lt; 10); channels[3] = ((sbus_data[5] &amp; 0xFE) &gt;&gt; 1) |</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment">//    ((sbus_data[6] &amp; 0xF) &lt;&lt; 7); channels[4] = ((sbus_data[6] &amp; 0xF0) &gt;&gt; 4) |</span></div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment">//    ((sbus_data[7] &amp; 0x7F) &lt;&lt; 4); channels[5] = ((sbus_data[7] &amp; 0x80) &gt;&gt; 7) |</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">//    (sbus_data[8] &lt;&lt; 1) | ((sbus_data[9] &amp; 0x3) &lt;&lt; 9); channels[6] =</span></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="comment">//    ((sbus_data[9] &amp; 0xFC) &gt;&gt; 2) | ((sbus_data[10] &amp; 0x1F) &lt;&lt; 6); channels[7]</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="comment">//    = ((sbus_data[10] &amp; 0xE0) &gt;&gt; 5) | (sbus_data[11] &lt;&lt; 3);</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="comment">//    channels[8] = ((sbus_data[12]) | ((sbus_data[13] &amp; 0x7) &lt;&lt; 8));</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="comment">//    channels[9] = (sbus_data[13] &gt;&gt; 3) | ((sbus_data[14] &amp; 0x3F) &lt;&lt; 5);</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">//    channels[10] = ((sbus_data[14] &amp; 0xC0) &gt;&gt; 6) | (sbus_data[15] &lt;&lt; 2) |</span></div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="comment">//    ((sbus_data[16] &amp; 0x1) &lt;&lt; 10); channels[11] = ((sbus_data[16] &amp; 0xFE) &gt;&gt;</span></div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment">//    1) | ((sbus_data[17] &amp; 0xF) &lt;&lt; 7); channels[12] = ((sbus_data[17] &amp; 0xF0)</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment">//    &gt;&gt; 4) | ((sbus_data[18] &amp; 0x7F) &lt;&lt; 4); channels[13] = ((sbus_data[18] &amp;</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="comment">//    0x80) &gt;&gt; 7) | (sbus_data[19] &lt;&lt; 1) | ((sbus_data[20] &amp; 0x3) &lt;&lt; 9);</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">//    channels[14] = ((sbus_data[20] &amp; 0xFC) &gt;&gt; 2) | ((sbus_data[21] &amp; 0x1F) &lt;&lt;</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="comment">//    6); channels[15] = ((sbus_data[21] &amp; 0xE0) &gt;&gt; 5) | (sbus_data[22] &lt;&lt; 3);</span></div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="comment">//    channels[16] = (sbus_data[23] &amp; 0x80) &gt;&gt; 7;</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="comment">//    channels[17] = (sbus_data[23] &amp; 0x40) &gt;&gt; 6;</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="comment">//    pthread_mutex_lock(&amp;sbus_data_m);</span></div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment">//    for (int i = 0; i &lt; 18; i++) {</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">//      //printf(&quot;%d &quot;, channels[i]);</span></div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">//      channel_data[i] = channels[i];</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment">//    }</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment">//    //printf(&quot;\n\n&quot;);</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">//    pthread_mutex_unlock(&amp;sbus_data_m);</span></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">//  } else { printf(&quot;Bad Packet\n&quot;); }</span></div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">//}</span></div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="comment">// int read_sbus_data(int port, uint8_t *sbus_data) {</span></div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="comment">//  uint8_t packet_full = 0;</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="comment">//  uint8_t read_byte[1] = {0};</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;<span class="comment">//  int timeout_counter = 0;</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">//  //int n = read(fd1, read_buff, sizeof(read_buff));</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment">//  while ((!packet_full) &amp;&amp; (timeout_counter &lt; 50)) {</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment">//    timeout_counter++;</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;<span class="comment">//    // Read a byte //</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="comment">//    int n = read(port, read_byte, sizeof(read_byte));</span></div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;<span class="comment">//    // Shift the buffer //</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="comment">//    for (int i = 0; i &lt; 24; i++) {</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="comment">//      sbus_data[i] = sbus_data[i + 1];</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="comment">//    }</span></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;<span class="comment">//    sbus_data[24] = read_byte[0];</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;<span class="comment">//    // Check for the correct start and stop bytes ///</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="comment">//    if ((sbus_data[0] == 15) &amp;&amp; (sbus_data[24] == 0)) {</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="comment">//      //unpack_sbus_data(sbus_data_buff, channels);</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="comment">//      packet_full = 1;</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;<span class="comment">//    }</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="comment">//  }</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="comment">//  return packet_full;</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="comment">//}</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;<span class="comment">// int read_sbus_channel(int channel) {</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;<span class="comment">//  pthread_mutex_lock(&amp;sbus_data_m);</span></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;<span class="comment">//  int value = channel_data[channel];</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="comment">//  pthread_mutex_unlock(&amp;sbus_data_m);</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;<span class="comment">//  return value;</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="comment">//}</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="comment">// int receive_sbus(int port) {</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="comment">//  uint16_t read_buff[25] = {0};</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="comment">//  int x = read_sbus_data(port, (uint8_t*)read_buff);</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="comment">//  if (x) {</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="comment">//    unpack_sbus_data((uint8_t*)read_buff, channels);</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="comment">//  } else {</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="comment">//    printf(&quot;SBUS tried read 50 bytes without seeing a packet\n&quot;);</span></div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment">//  }</span></div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">//  return x;</span></div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">//}</span></div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">// int init_sbus(int is_simulator) {</span></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;<span class="comment">//  char *port1;</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="comment">//  if (is_simulator) { port1 = K_SBUS_PORT_SIM; }</span></div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;<span class="comment">//  else { port1 = K_SBUS_PORT_MC; }</span></div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;<span class="comment">//  if (pthread_mutex_init(&amp;sbus_data_m, NULL) != 0) {</span></div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="comment">//    printf(&quot;Failed to initialize sbus data mutex.\n&quot;);</span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;<span class="comment">//  }</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="comment">//  int fd1 = open(port1, O_RDWR | O_NOCTTY | O_SYNC);</span></div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="comment">//  if (fd1 &lt; 0) {</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;<span class="comment">//    printf(&quot;Error opening %s: %s\n&quot;, port1, strerror(errno));</span></div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="comment">//  } else {</span></div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="comment">//    set_interface_attribs_custom_baud(fd1, 100000, 0, 0);</span></div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;<span class="comment">//  }</span></div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="comment">//  return fd1;</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="comment">//}</span></div></div><!-- fragment --></div><!-- contents -->
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